/*
 * Copyright (C) 2011 Google Inc.
 * 
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 * 
 * http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */

package pl.edu.agh.ros.node;

import java.util.HashSet;
import java.util.Set;

import org.ros.node.DefaultNodeFactory;
import org.ros.node.Node;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMain;
import org.ros.node.topic.Publisher;

public class Talker implements NodeMain {

	private Node node;
	private Set<String> sentMessages = new HashSet<String>();

	@Override
	public void main(NodeConfiguration configuration) {
		try {
			node = new DefaultNodeFactory().newNode("talker", configuration);
			Publisher<org.ros.message.std_msgs.String> publisher = node.newPublisher("chatter", "std_msgs/String");
			for (int i = 0; i < 10; i++) {
				org.ros.message.std_msgs.String str = new org.ros.message.std_msgs.String();
				str.data = "Hello world! " + i;
				getSentMessages().add(str.data);
				publisher.publish(str);
				Thread.sleep(1000);
			}
		} catch (Exception e) {
			if (node != null) {
				node.getLog().fatal(e);
			} else {
				e.printStackTrace();
			}
		}
	}

	@Override
	public void shutdown() {
		node.shutdown();
		node = null;
	}

	public Set<String> getSentMessages() {
		return sentMessages;
	}

}
